Zhao-Ying Zhou

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This paper presents a model identification of a micro air vehicle in loitering flight, based on the input-output data collected from flight experiments on a homemade 1-m-sized aircraft. A miniature flight-control system, which consists of the onboard and the ground sections, is equipped with a multichannel data logger associated with the data acquisition(More)
This paper aims to investigate theoretically and experimentally the dynamic behaviors of the pitch and roll motions of a small-scale unmanned air vehicle in loitering flight. Two fourth-order ARX (AutoRegressive with eXogenous input) models are successfully identified, and the performance analysis is carried out based on the flight test data. The validity(More)
This paper presents an optimal algorithm for finding collision-free path and trajectory for microair vehicles (MAVs) in urban terrain where multiple ground obstacles are distributed. Regarding vertices of polygonal obstacles as input points of the Delaunay triangulations, a Delaunay-based path planning is proposed to determine an optimal waypoint path while(More)
The wings of loitering unit could be unfolded in flight. In view of the model parameters uncertainty caused by the structural change, based on the vehicle's longitudinal and lateral motion equations, combined with the characteristics of ADRC, active disturbance rejection attitude controller is designed. Six degrees of freedom nonlinear simulation model is(More)